Human-leading truck platooning systems have been proposed to leverage the benefits of both human supervision and vehicle autonomy. Equipped with human guidance and autonomous technology, human-leading truck platooning systems are more versatile to handle uncertain traffic conditions than fully automated platooning systems. This paper presents a novel distributed stochastic model predictive control (DSMPC) design for a human-leading heavy-duty truck platoon. The proposed DSMPC design integrates the stochastic driver behavior model of the human-driven leader truck with a distributed formation control design for the following automated trucks in the platoon. The driver behavior of the human-driven leader truck is learned by a stochastic inverse reinforcement learning (SIRL) approach. The proposed stochastic driver behavior model aims to learn a distribution of cost function, which represents the richness and uniqueness of human driver behaviors, with a given set of driver-specific demonstrations. The distributed formation control includes a serial DSMPC with guaranteed recursive feasibility, closed-loop chance constraint satisfaction, and string stability. Simulation studies are conducted to investigate the efficacy of the proposed design under several realistic traffic scenarios. Compared to the baseline platoon control strategy (deterministic distributed model predictive control), the proposed DSMPC achieves superior controller performance in constraint violations and spacing errors.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Distributed Stochastic Model Predictive Control for Human-Leading Heavy-Duty Truck Platoon


    Beteiligte:
    Ozkan, Mehmet Fatih (Autor:in) / Ma, Yao (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.09.2022


    Format / Umfang :

    2770213 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Hierarchical Model Predictive Control Approaches for Strategic Platoon Engagement of Heavy-Duty Trucks

    Earnhardt, Christian / Groelke, Ben / Borek, John et al. | IEEE | 2022



    Model Predictive Control of a Heavy-Duty Truck Based on Gaussian Process

    Rocha, Fernando Henrique Morais Da / Grassi, Valdir / Guizilini, Vitor Campanholo et al. | IEEE | 2016